Experimental validation of a trajectory planning method with continuous acceleration implemented on a DSP-based motion controller

A trajectory planning method in joint space which provides a continuity of position, velocity and acceleration just with simple numerical simulations was already presented by us before. This paper, therefore, presents techniques in detail for implementation of it. To guarantee high performance, a no...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Yanhui Qiang, Fengshui Jing, Zengguang Hou, Shuping Yang, Ying Liu
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Acceleration Arc welding robot Automation Digital signal processing Joint acceleration Joints Motion controller Planning Robots Trajectory Trajectory planning
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